3D列印機_控制高度 << Previous Next >> 架設機械手臂場景

衝擊試驗機

控制說明

請依序按下1~4

分別為上升、落下、往下、接合

程式碼參考

function sysCall_init()
    -- do some initialization here
    jointY=sim.getObjectHandle('Prismatic_joint')
    joint1=sim.getObjectHandle('Prismatic_joint0')
    joint2=sim.getObjectHandle('Prismatic_joint1')
    cont=1
end

function sysCall_actuation()
    -- put your actuation code here
    message,auxiliaryData=sim.getSimulatorMessage()
    while message~=-1 do
        if (message==sim.message_keypress) then
            if (auxiliaryData[1]==49) then
                if (cont==1) then
                    sim.setJointTargetPosition(jointY,40)
                    cont=2
                end
            end
            if (auxiliaryData[1]==50) then
                if (cont==2) then
                    sim.setJointTargetPosition(joint1,0.1)
                    sim.setJointTargetPosition(joint2,-0.1)
                    cont=3
                end
            end
            if (auxiliaryData[1]==51) then
                if (cont==3) then
                    sim.setJointTargetPosition(jointY,0)
                    cont=4
                end
            end
            if (auxiliaryData[1]==52) then
                if (cont==4) then
                    sim.setJointTargetPosition(joint1,0)
                    sim.setJointTargetPosition(joint2,0)
                    cont=1
                end
            end
         end
    message,auxiliaryData=sim.getSimulatorMessage()
    end
end

function sysCall_sensing()
    -- put your sensing code here
end

function sysCall_cleanup()
    -- do some clean-up here
end

-- See the user manual or the available code snippets for additional callback functions and details

3D列印機_控制高度 << Previous Next >> 架設機械手臂場景